This paper presents a constraint management strategy based on ScalarReference Governors (SRG) to enforce output, state, and control constraints . The strategy, referred to as the Preview Reference Governor (PRG), can outperformSRG while maintaining the computational benefits of SRG . However, performance of PRG may suffer if large preview horizons are used . An extension ofPRG is proposed to remedy this issue . Quantitative comparisons between SRG, PRG, and Multi-horizon PRG on a vehicle rollover example are presented to illustratetheir performance and computation time .

Author(s) : Yudan Liu, Joycer Osorio, Hamid Ossareh

Links : PDF - Abstract

Code :

https://github.com/nhynes/abc


Coursera

Keywords : prg - srg - preview - strategy - governors -

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